Yanwu Zhai
Papers
7
Total Citations
32
H-Index
4
About
Yanwu Zhai is a robotics researcher whose work centers on the control, localization, and manipulation of mobile robots, with a particular emphasis on the challenging dynamics of two-wheeled inverted pendulum (TWIP) systems. Zhai’s major contributions include developing a novel LiDAR–IMU–odometer coupling framework that enables TWIP robots to achieve accurate localization and mapping on flat ground, even under motion disturbances, and pioneering control strategies for TWIP robots navigating continuous uneven terrain. To address the inherent difficulty of self-balancing, Zhai has also applied reinforcement learning for model-based balance control. Beyond wheeled robots, Zhai has explored target dynamic grasping for mobile manipulators and contributed to medical robotics by developing a master-slave magnetic anchoring vision system for single-port laparoscopy surgery. With papers accumulating up to 7 citations each, Zhai’s work is gaining recognition for its practical impact on real-world robot autonomy and surgical assistance. Notably, Zhai has also advanced multi-sensor fusion through efficient tightly-coupled LiDAR-IMU frameworks and extrinsic calibration methods for stereo-LiDAR systems, demonstrating a comprehensive approach to robotic perception and control.
Research Focus
Key Achievements
Top Papers
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- 3Model Learning for Two-Wheeled Robot Self-Balance Control5 citations · 2019
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- 7Extrinsic Calibration Between a Stereo System and a 3D LIDAR2 citations · 2019